CN108042054B - Automatic robot that cleans of step for corridor - Google Patents
Automatic robot that cleans of step for corridor Download PDFInfo
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- CN108042054B CN108042054B CN201711307898.7A CN201711307898A CN108042054B CN 108042054 B CN108042054 B CN 108042054B CN 201711307898 A CN201711307898 A CN 201711307898A CN 108042054 B CN108042054 B CN 108042054B
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- box body
- module
- rotating shaft
- groove
- movable seat
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped surface treating tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
Abstract
The invention belongs to the technical field of robots, and particularly relates to an automatic stair cleaning robot for a corridor, which comprises a box body, a transverse cleaning module, a garbage gathering module, an auxiliary descending module, a box body splicing module and an adsorption module, wherein a conical boss and a conical groove are correspondingly arranged at the connecting part between the box bodies, electromagnets I are respectively arranged in the conical groove and the conical boss, transverse traveling wheels are arranged at the bottoms of a left box body and a right box body, and longitudinal traveling wheels are arranged at the bottom of a middle box body; the transverse cleaning module is used for cleaning garbage on the steps; the garbage collection module is used for cleaning garbage from the previous step to the next step; the auxiliary descending module is used for enabling the box body on the left side to fall onto the next step surface in a horizontal state; the box body splicing module is used for enabling the three box bodies to form a whole; the adsorption module is used for adsorbing the box body on the ground without moving. The invention has simple structure, smooth movement between steps, stable operation process and high working efficiency.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an automatic stair cleaning robot for a corridor.
Background
With the rapid development of economy, the number of modern high-rise office buildings and high-rise residential buildings is increased suddenly, the labor supply is insufficient, the labor cost is high for hiring, and the like, so that the intelligent corridor cleaning robot is urgently needed. There has been a long history of research on stair climbing robots, and the existing stair climbing robots are mainly classified into the following four types: planetary wheel type, crawler type, leg foot type and parallel four-bar mechanism type. The planetary wheel type mobile robot has the advantages of flexible movement, simple control and the like on the premise of meeting certain terrain adaptability, but the traditional planetary wheel set has unreasonable structure and low efficiency when climbing stairs, and the overall stability of the robot is difficult to ensure when in operation. The crawler-type stair climbing mechanism is widely applied, and is very popular in the manufacture of various anti-riot robots. The stair climbing device is mainly characterized by strong obstacle crossing capability, adaptability to different stairs, small gravity center fluctuation in the process of going upstairs and downstairs and quite stable motion. The biggest defects of the stair climbing device are that the resistance is large when the stair climbing device walks in a parallel mode, the movement is not flexible, the energy consumption is high, and when the stair climbing device climbs stairs, if the design is not proper, the caterpillar band also easily damages the edge of the stair. In addition, at some point during the initial descent, the entire mechanism may suddenly tilt. The legged robot has strong ground adaptability and high stability, but has complex mechanism and control, low running speed and expensive manufacturing cost. The parallel four-bar mechanism type: the robot has the advantages that the robot is reasonable in structure and good in working performance, and the movement of two degrees of freedom of lifting and stretching is designed to realize going upstairs and downstairs. But the stability is not good enough, the robot is easy to tip over and is difficult to control, and the running efficiency is not high.
The above four stair climbing robots are currently the most common types, each of which has its own features, but all of which are also deficient, which also largely limits its application in a wider range.
In view of the above, the automatic cleaning robot for the stairs for the corridor, provided by the invention, adopts a split design, is simple in structure, moves quickly, can clean the stairs of the corridor, is simple in a lower stair control mode, is free from damage to the stairs, is low in energy consumption and wide in application range, and has the following specific beneficial effects:
1. the invention relates to an automatic cleaning robot for stairs, which is characterized in that a box body is composed of three parts, the box body is spliced by a box body splicing module through the mutual matching of a double-shaft motor, a nylon rope, a conical boss and a conical groove, the box body is combined into a whole and has the same width with a stair surface, and the cleaning is realized along the length direction of the stair surface; when the steps are needed to be taken down, the three box bodies are separated, the steps are taken down one by one, and the three-box type stair stepping machine is simple in structure, rapid in movement and high in working efficiency.
2. According to the automatic stair cleaning robot for the corridor, garbage on the stair surface is cleaned under the driving of the transverse traveling wheels by the transverse cleaning module, the garbage moves to the corner under the driving of the transverse cleaning module, and the garbage on the previous stair surface is cleaned to the next stair surface by the garbage collecting module, so that the garbage is collected.
3. According to the automatic stair cleaning robot for the corridor, the auxiliary descending module, the box body splicing module and the adsorption module are matched with each other, so that the three box bodies can stably fall onto the next stair surface, the moving mode is flexible, manual operation is not needed, and the self-adaptive capacity is strong.
Disclosure of Invention
In order to make up for the defects of the prior art, the invention provides an automatic stair cleaning robot for a corridor, which is mainly used for solving the problems of high price, complex control mode, slow movement and insufficient stability of the corridor cleaning robot. According to the invention, by arranging the split type box body, the transverse traveling wheels and the transverse cleaning module, one step surface can be cleaned at one time, the cleaning efficiency is improved, the cleaning process is stable, and the structure is simple; meanwhile, the auxiliary descending module, the box body splicing module and the adsorption module arranged on the box body realize that the box body is moved to the next step surface one by one, manual operation is not needed, and the control mode is flexible.
The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to an automatic stair cleaning robot for a corridor, which comprises a box body, a transverse cleaning module, a garbage gathering module, an auxiliary descending module, a box body splicing module and an adsorption module, the number of the box bodies is three, through holes penetrating through the front end face and the rear end face are horizontally formed in the box bodies, rectangular grooves are formed in the front end face and the rear end face of each box body along the bottom faces of the box bodies, a conical groove is formed in the middle of the right end face of the left box body, a conical boss is formed in the corresponding position on the left end face of the middle box body, the same conical bosses are symmetrically formed in the right end face of the middle box body, a conical groove is formed in the corresponding position on the left end, electromagnets I are arranged at the bottom of the conical groove and at the head of the conical boss, two sliding grooves are vertically formed in the bottom surfaces of the left box body and the right box body respectively, four transverse travelling wheels are arranged at the bottom of each of the left box body and the right box body respectively, and two longitudinal travelling wheels are arranged at the bottom of the middle box body; the transverse cleaning module is arranged in the rectangular grooves on the front end surfaces of the three box bodies and is used for cleaning garbage on the steps; the garbage collection module is arranged in the rectangular grooves on the rear end surfaces of the three box bodies and is used for cleaning garbage swept to the corners by the transverse sweeping module from the previous step to the next step; the auxiliary descending module is arranged at the bottom of the left box body and is used for enabling the left box body to fall onto the next step surface in a horizontal state; the box body splicing module is used for enabling the three box bodies to form a whole; the adsorption module is arranged at the bottom of the left box body and the bottom of the right box body, and the adsorption module is used for enabling the box bodies to be adsorbed on the ground without moving.
The transverse cleaning module comprises a first rotating shaft, a brush and a first motor, the first rotating shaft is positioned in a rectangular groove in the front end face of the box body, the first rotating shaft is installed on the box body, rectangular grooves are uniformly formed in the right end face of the first rotating shaft on the left box body along the circumferential surface of the first rotating shaft, rectangular bosses are correspondingly arranged on the two end faces of the first rotating shaft on the middle box body along the circumferential surface of the first rotating shaft, and rectangular grooves are uniformly formed in the left end face of the first rotating shaft on the right box body along the circumferential surface of the first rotating shaft; the hairbrushes are uniformly arranged on the circumferential surface of the first rotating shaft; the first motor is fixed on the box body and connected with one end of the first rotating shaft. When the cleaning device works, the motor drives the first rotating shaft to rotate, and the hairbrush is driven by the first rotating shaft to move, so that the garbage on the step surface is cleaned smoothly.
The garbage gathering module comprises a second rotating shaft, a spiral scraping blade and a second motor, the second rotating shaft is positioned in a rectangular groove in the rear end face of the box body, the second rotating shaft is installed on the box body, rectangular grooves are uniformly formed in the right end face of the second rotating shaft on the left box body along the circumferential surface of the second rotating shaft, rectangular bosses are correspondingly arranged on the two end faces of the second rotating shaft on the middle box body along the circumferential surface of the second rotating shaft, and rectangular grooves are uniformly formed in the left end face of the second rotating shaft on the right box body along the circumferential surface of the second rotating shaft; the spiral scraping blade is spirally arranged on the circumferential surface of the second rotating shaft; and the second motor is fixed on the box body and is connected with one end of the second rotating shaft. When the garbage cleaning machine works, the second motor drives the second rotating shaft to rotate, the spiral scraping piece on the second rotating shaft generates spiral motion along with the rotation of the second rotating shaft, and garbage collected to the corner by the transverse cleaning module is pushed to the next step surface.
The auxiliary descending module comprises an outer barrel, a movable seat, a connecting rod, a torsion spring and a gear, wherein the outer barrel is a cuboid, the outer barrel is fixed below the left box body, a rectangular through hole is horizontally formed in the outer barrel along the length direction, and a groove is formed in the right end face of the outer barrel along the bottom surface; the movable seat is positioned in the rectangular through hole of the outer barrel and is a cuboid, a section of groove is formed in the bottom surface of the movable seat, the groove is positioned on the right side of the movable seat and is communicated with the right end face of the movable seat, and a tooth-shaped structure is arranged on the upper end face of the movable seat; the connecting rod is positioned in the groove of the movable seat and is hinged with the movable seat; the torsional spring is arranged at the hinged part of the connecting rod and the movable seat; the gear is arranged at the bottom of the box body and is meshed with the tooth-shaped structure on the movable seat. When the left box body moves from the previous step to the next step, the gear rotates to drive the movable seat to move rightwards, the connecting rod synchronously moves rightwards under the driving of the movable seat, the connecting rod moves out of the groove of the outer barrel and then inclines downwards due to the existence of the torsional spring, and the gear continues to rotate to enable the connecting rod to be in contact with the vertical surface of the step, so that the box body is prevented from being overturned in the descending process of the left box body.
The box body splicing module comprises two double-shaft motors, a scroll and a nylon rope, wherein the double-shaft motors are arranged in the through hole of the middle box body in a bilateral symmetry manner; the scroll is arranged at two ends of an output shaft of the double-shaft motor; one end of the nylon rope is wound on the reel, and the other end of the nylon rope penetrates through the middle box body and is fixed at the bottoms of the conical grooves in the left box body and the right box body respectively. When cleaning is needed, the three box bodies need to form a whole to work, and the sum of the widths of the three box bodies is equal to the width of the step surface, so that the cleaning work of the step surface of one stage is completed in one transverse movement; before the work, the inside biax motor of middle box drives the spool and rotates, and epaxial nylon rope is convoluteed on the spool, and the nylon rope draws the box on both sides to middle box near, because the existence of box outside toper boss and toper recess for the concatenation is accomplished smoothly to the box, and an electro-magnet circular telegram firmly inhales the box together, thereby has made up into a whole with the box. When the box on the left is about to move out of the upper step surface, the double-shaft motor drives the reel to rotate reversely, and the nylon rope enables the box on the left to be slowly separated from the middle box, so that the box on the left can be smoothly lowered onto the lower step surface.
The adsorption module comprises a sucker, a support rod, an electromagnet II, a spring and a vacuum pump, wherein the sucker is positioned below the left box body and the right box body, and the upper end of the sucker is fixed on the support rod; the supporting rod is positioned in the sliding groove, the top end of the supporting rod is provided with a second electromagnet, and the bottom of the sliding groove of the box body is also provided with the second electromagnet; the spring is sleeved on the supporting rod and is positioned between the sucker and the box body; the vacuum pump is fixed at the bottom of the box body and used for pumping out air in the sucker. When the left box body is moved to the next step surface, the adsorption module at the bottom of the right box body needs to be firmly adsorbed on the ground, so that the other two box bodies are prevented from being pulled down in the descending process of the left box body; and the second electromagnet is powered off, the sucker extends downwards under the action of the spring to be in contact with the step surface, and then the vacuum pump works to pump out air in the sucker, so that the right box body is firmly adsorbed on the step surface through the adsorption module.
The longitudinal travelling wheels are arranged on the support plate through transmission shafts; the top of the support plate is provided with a movable plate, the bottom of the middle box body is provided with a guide groove, and the guide groove is communicated with the through hole of the box body; the movable plate is positioned in the guide groove of the middle box body, and the upper surface of the movable plate is fixed at the head part of the piston rod of the cylinder; the cylinder is fixed on the top of the through hole of the middle box body. When the transverse traveling wheel drives the box body to realize cleaning, in order to avoid the generation of friction between the longitudinal traveling wheel and the ground and cause overlarge resistance when the robot cleans, the longitudinal traveling wheel needs to be separated from the ground; the cylinder drives the movable plate to move upwards along the guide groove of the middle box body, so that the longitudinal travelling wheels are driven to move upwards, and the longitudinal travelling wheels are smoothly separated from the step surface.
The invention has the beneficial effects that:
1. the invention relates to an automatic cleaning robot for stairs, which is characterized in that a box body is composed of three parts, the box body is spliced by a box body splicing module through the mutual matching of a double-shaft motor, a nylon rope, a conical boss and a conical groove, the box body is combined into a whole and has the same width with a stair surface, and the cleaning is realized along the length direction of the stair surface; when the steps are needed to be taken down, the three box bodies are separated, the steps are taken down one by one, and the three-box type stair stepping machine is simple in structure, rapid in movement and high in working efficiency.
2. According to the automatic stair cleaning robot for the corridor, garbage on the stair surface is cleaned under the driving of the transverse traveling wheels by the transverse cleaning module, the garbage moves to the corner under the driving of the transverse cleaning module, and the garbage on the previous stair surface is cleaned to the next stair surface by the garbage collecting module, so that the garbage is collected.
3. According to the automatic stair cleaning robot for the corridor, the auxiliary descending module, the box body splicing module and the adsorption module are matched with each other, so that the three box bodies can stably fall onto the next stair surface, the moving mode is flexible, manual operation is not needed, and the self-adaptive capacity is strong.
Drawings
The invention will be further explained with reference to the drawings.
FIG. 1 is a front view of the present invention;
FIG. 2 is a cross-sectional view A-A of FIG. 1;
FIG. 3 is an enlarged view of the left housing of FIG. 1;
FIG. 4 is an enlarged view of the intermediate box of FIG. 1;
FIG. 5 is an enlarged view of the left housing of FIG. 2;
FIG. 6 is an enlarged view of the right hand case of FIG. 2;
in the figure: the garbage collection device comprises a box body 1, a transverse cleaning module 2, a garbage collection module 3, an auxiliary descending module 4, a box body splicing module 5, an adsorption module 6, a conical boss 11, a first electromagnet 12, a transverse traveling wheel 13, a longitudinal traveling wheel 14, a first rotating shaft 21, a brush 22, a first motor 23, a second rotating shaft 31, a spiral scraping blade 32, a second motor 33, an outer cylinder 41, a movable seat 42, a connecting rod 43, a gear 44, a double-shaft motor 51, a scroll 52, a nylon rope 53, a suction cup 61, a supporting rod 62, a second electromagnet 63, a spring 64, a vacuum pump 65, a supporting plate 15, a movable plate 16 and a cylinder 17.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1 to 6, the automatic stair cleaning robot for the corridor, provided by the invention, comprises a box body 1, a transverse cleaning module 2, a garbage gathering module 3, an auxiliary descending module 4, a box body splicing module 5 and an adsorption module 6, wherein the number of the box body 1 is three, through holes penetrating through front and rear end faces are horizontally formed in the box body 1, rectangular grooves are formed in the front and rear end faces of the box body 1 along the bottom face of the box body 1, a conical groove is formed in the middle of the right end face of the left box body 1, a conical boss 11 is correspondingly formed in the left end face of the middle box body 1, the same conical bosses 11 are symmetrically formed in the right end face of the middle box body 1, conical grooves are correspondingly formed in the left end face of the right box body 1, electromagnets one 12 are respectively arranged at the bottoms of the conical grooves and the heads of the conical bosses 11, and two sliding grooves are, the bottom of the left box body 1 and the bottom of the right box body 1 are respectively provided with four transverse travelling wheels 13, and the bottom of the middle box body 1 is provided with two longitudinal travelling wheels 14; the transverse cleaning module 2 is arranged in a rectangular groove on the front end surface of the three box bodies 1, and the transverse cleaning module 2 is used for cleaning garbage on steps; the garbage collection module 3 is arranged in a rectangular groove on the rear end face of the three box bodies 1, and the garbage collection module 3 is used for cleaning garbage swept to the wall corner by the transverse sweeping module 2 from the previous step to the next step; the auxiliary descending module 4 is arranged at the bottom of the left box body 1 and is used for enabling the left box body 1 to fall onto the next step surface in a horizontal state; the box body splicing module 5 is used for enabling the three box bodies 1 to form a whole; the adsorption module 6 is arranged at the bottom of the left box body 1 and the right box body 1, and the adsorption module 6 is used for enabling the box bodies 1 to be adsorbed on the ground without moving.
The transverse cleaning module 2 comprises a first rotating shaft 21, a brush 22 and a first motor 23, the first rotating shaft 21 is positioned in a rectangular groove in the front end face of the box body 1, the first rotating shaft 21 is installed on the box body 1, rectangular grooves are uniformly formed in the right end face of the first rotating shaft 21 on the left box body 1 along the circumferential surface of the first rotating shaft 21, rectangular bosses are correspondingly arranged on the two end faces of the first rotating shaft 21 on the middle box body 1 along the circumferential surface of the first rotating shaft 21, rectangular grooves are uniformly formed in the left end face of the first rotating shaft 21 on the right box body 1 along the circumferential surface of the first rotating shaft 21, and the rectangular grooves and the rectangular bosses uniformly arranged on the first rotating shaft 21 can be matched; the brushes 22 are uniformly arranged on the circumferential surface of the first rotating shaft 21; the first motor 23 is fixed on the box body 1, and the first motor 23 is connected with one end of the first rotating shaft 21. When the cleaning machine works, the first motor 23 drives the first rotating shaft 21 to rotate, and the brush 22 is driven by the first rotating shaft 21 to move, so that the garbage on the step surface is cleaned smoothly.
The garbage gathering module 3 comprises a second rotating shaft 31, a spiral scraping blade 32 and a second motor 33, the second rotating shaft 31 is positioned in a rectangular groove on the rear end face of the box body 1, the second rotating shaft 31 is installed on the box body 1, rectangular grooves are uniformly formed in the right end face of the second rotating shaft 31 on the left box body 1 along the circumferential surface of the second rotating shaft 31, rectangular bosses are correspondingly arranged on the two end faces of the second rotating shaft 31 on the middle box body 1 along the circumferential surface of the second rotating shaft 31, rectangular grooves are uniformly formed in the left end face of the second rotating shaft 31 on the right box body 1 along the circumferential surface of the second rotating shaft 31, and the rectangular grooves and the rectangular bosses uniformly arranged on the second rotating shaft 31 can be; the spiral scraping blade 32 is spirally arranged on the circumferential surface of the second rotating shaft 31; the second motor 33 is fixed on the box body 1, and the second motor 33 is connected with one end of the second rotating shaft 31. When the garbage cleaning machine works, the second motor 33 drives the second rotating shaft 31 to rotate, the spiral scraping piece 32 on the second rotating shaft 31 generates spiral motion along with the rotation of the second rotating shaft 31, and garbage collected to the corner by the transverse cleaning module 2 is pushed to the next step surface.
The auxiliary descending module 4 comprises an outer cylinder 41, a movable seat 42, a connecting rod 43, a torsion spring and a gear 44, wherein the outer cylinder 41 is a cuboid, the outer cylinder 41 is fixed below the left box body 1, a rectangular through hole is horizontally formed in the outer cylinder 41 along the length direction, and a groove is formed in the right end face of the outer cylinder 41 along the bottom face; the movable seat 42 is positioned in the rectangular through hole of the outer cylinder 41, the movable seat 42 is a cuboid, a section of groove is formed in the bottom surface of the movable seat 42, the groove is positioned on the right side of the movable seat 42, the groove is communicated with the right end face of the movable seat 42, and a tooth-shaped structure is arranged on the upper end face of the movable seat 42; the connecting rod 43 is positioned in the groove of the movable seat 42, and the connecting rod 43 is hinged with the movable seat 42; the torsion spring is arranged at the hinged part of the connecting rod 43 and the movable seat 42; the gear 44 is mounted at the bottom of the box body 1, and the gear 44 is meshed with the tooth-shaped structure on the movable seat 42. When the left box 1 moves from the previous step to the next step, the gear 44 rotates to drive the movable seat 42 to move rightwards, the connecting rod 43 is driven by the movable seat 42 to move rightwards synchronously, due to the existence of the torsion spring, the connecting rod 43 moves out of the groove of the outer cylinder 41 and then inclines downwards, the gear 44 continues to rotate to enable the connecting rod 43 to be in contact with the vertical surface of the step, and therefore the box 1 is prevented from being turned over in the descending process of the left box 1.
The box body splicing module 5 comprises two double-shaft motors 51, a scroll 52 and a nylon rope 53, wherein the double-shaft motors 51 are arranged in the through holes of the middle box body 1 in a bilateral symmetry manner; the scroll 52 is arranged at two ends of the output shaft of the double-shaft motor 51; one end of the nylon rope 53 is wound on the reel 52, and the other end of the nylon rope 53 penetrates through the middle box body 1 and is fixed at the bottom of the conical groove on the left box body 1 and the right box body 1 respectively. When cleaning is needed, the three box bodies 1 need to form a whole to work, and the sum of the widths of the three box bodies 1 is equal to the width of the step surface, so that the cleaning work of the step surface of one level is completed in one transverse movement; before the work, the inside biax motor 51 of middle box 1 drives spool 52 and rotates, and nylon rope 53 on the spool 52 convolutes on the spool 52, and nylon rope 53 draws box 1 on both sides to middle box 1 and is close, because the existence of box 1 outside toper boss 11 and toper recess for the concatenation is accomplished smoothly to box 1, and electro-magnet 12 circular telegram firmly attracts box 1 together, thereby has made up box 1 into a whole. When a user needs to go down a step, the electromagnet I12 is powered off, the longitudinal travelling wheel 14 slowly pushes the left box body 1 to a next step surface, when the left box body 1 is about to move out of the previous step surface, the double-shaft motor 51 drives the scroll 52 to rotate in the reverse direction, and the nylon rope 53 enables the left box body 1 to be slowly separated from the middle box body 1, so that the left box body 1 is smoothly lowered onto the next step surface.
The adsorption module 6 comprises a sucker 61, a support rod 62, a second electromagnet 63, a spring 64 and a vacuum pump 65, wherein the sucker 61 is positioned below the left box body 1 and the right box body 1, and the upper end of the sucker 61 is fixed on the support rod 62; the supporting rod 62 is positioned in the sliding groove, the top end of the supporting rod 62 is provided with a second electromagnet 63, and the bottom of the sliding groove of the box body 1 is also provided with the second electromagnet 63; the spring 64 is sleeved on the supporting rod 62, and the spring 64 is positioned between the suction cup 61 and the box body 1; the vacuum pump 65 is fixed at the bottom of the box body 1, and the vacuum pump 65 is used for pumping out air in the suction cup 61. When the left box body 1 is moved to the next step surface, the adsorption module 6 at the bottom of the right box body 1 needs to be firmly adsorbed on the ground, so that the other two box bodies 1 are prevented from being pulled down in the descending process of the left box body 1; firstly, the electromagnet II 63 is powered off, the sucking disc 61 extends downwards under the action of the spring 64 to be in contact with the ground, then the vacuum pump 65 works to pump out air in the sucking disc 61, and therefore the right box body 1 is firmly adsorbed on the ground through the adsorption module 6.
The longitudinal travelling wheels 14 are arranged on the support plate 15 through transmission shafts; a movable plate 16 is arranged at the top of the support plate 15, a guide groove is formed in the bottom of the middle box body 1, and the guide groove is communicated with a through hole of the box body 1; the movable plate 16 is positioned in the guide groove of the middle box body 1, and the upper surface of the movable plate 16 is fixed at the head of the piston rod of the cylinder 17; the cylinder 17 is fixed on the top of the through hole of the middle box body 1. When the transverse traveling wheels 13 drive the box body 1 to realize cleaning, in order to avoid the generation of friction between the longitudinal traveling wheels 14 and the ground and cause overlarge resistance when the robot cleans, the longitudinal traveling wheels 14 need to be separated from the ground; the cylinder 17 drives the movable plate 16 to move upwards along the guide groove of the middle box body 1, so as to drive the longitudinal walking wheels 14 to move upwards, and the separation of the longitudinal walking wheels 14 from the ground is smoothly realized.
The specific working process is as follows:
before cleaning, firstly, the robot is placed on the highest step surface, and the robot moves along the step surface to the wall to clean each step surface one by one. Firstly, three boxes 1 need to be spliced into a whole: the double-shaft motor 51 in the middle box body 1 drives the scroll 52 to rotate, the nylon rope 53 on the scroll 52 is wound on the scroll 52, the nylon rope 53 draws the box bodies 1 on two sides to the middle box body 1, the splicing of the box bodies 1 is smoothly completed due to the existence of the conical boss 11 and the conical groove on the outer side of the box body 1, the electromagnet is electrified to firmly suck the box bodies 1 together, and the box bodies 1 are combined into a whole. The first motor 23 drives the first rotating shaft 21 to rotate, the brush 22 is driven by the first rotating shaft 21 to move, and meanwhile the transverse traveling wheels 13 at the bottom of the box body 1 push the box body 1 to move along the step surface, so that the garbage on the step surface is cleaned smoothly. The garbage is gradually gathered to the wall under the driving of the brush 22, then the second motor 33 drives the second rotating shaft 31 to rotate, the spiral scraping piece 32 on the second rotating shaft 31 generates spiral motion along with the rotation of the second rotating shaft 31, and the garbage gathered to the corner by the transverse cleaning module 2 is pushed to the next step surface. When horizontal walking wheel 13 drive box 1 realized cleaning, in order to avoid the production friction between longitudinal walking wheel 14 and the ground, the resistance was too big when causing the robot to clean, needed to make longitudinal walking wheel 14 break away from the contact with ground: the cylinder 17 drives the movable plate 16 to move upwards along the guide groove of the middle box body 1, so as to drive the longitudinal walking wheels 14 to move upwards, and the separation of the longitudinal walking wheels 14 from the ground is smoothly realized.
After the cleaning work of the previous step surface is completed, the robot needs to move to the next step surface to continue to complete cleaning: firstly, the electromagnets I12 of the left box body 1 and the middle box body 1 are powered off, the longitudinal travelling wheels 14 slowly push the left box body 1 to a next step surface, when the left box body 1 is about to move out of the previous step surface, the electromagnets II 63 of the right box body 1 are powered off, the suction disc 61 extends downwards under the action of the spring 64 to be in contact with the ground, then the vacuum pump 65 works to pump out air in the suction disc 61, and therefore the right box body 1 is firmly adsorbed on the ground through the adsorption module 6; then, the double-shaft motor 51 drives the reel 52 to rotate reversely, the nylon rope 53 enables the left box 1 to be slowly separated from the middle box 1, meanwhile, the gear 44 rotates to drive the movable seat 42 to move rightwards, the connecting rod 43 is driven by the movable seat 42 to move rightwards synchronously, due to the existence of the torsion spring, the connecting rod 43 moves out of the groove of the outer barrel 41 and then inclines downwards, the gear 44 continues to rotate to enable the connecting rod 43 to be in contact with the vertical surface of the step, and then the gear 44 stops rotating, so that the box 1 is prevented from being overturned in the descending process of the left box 1, and the left box 1 is smoothly descended to the next step surface; when the left box body 1 smoothly descends to the next step surface, the gear 44 on the left box body 1 continuously rotates, the movable seat 42 continuously extends rightwards under the driving of the gear 44, and the left box body 1 is pushed to move leftwards to the edge of the next step surface on the next step surface, so that space is reserved for the middle box body 1 and the right box body 1 to descend to the next step surface. Then, the second electromagnet 63 of the left box 1 is powered off, the sucking disc 61 extends downwards under the action of the spring 64 to be in contact with the ground, and then the vacuum pump 65 works to pump out air in the sucking disc 61, so that the left box 1 is firmly adsorbed on the next step surface through the adsorption module 6; two box 1 just adsorb on two upper and lower step faces about like this, then the left biax motor 51 forward rotation of middle box 1, the biax on right side makes the nylon rope 53 between left side box 1 and the middle box 1 be in the state of tightening up, nylon rope 53 between right box 1 and the middle box 1 is in the extension state, thereby middle box 1 is through controlling box 1 and nylon rope 53 to pull to next step face along the slash on, then two 63 circular telegrams of the electro-magnet of right box 1 bottom make sucking disc 61 and ground break away from the contact, thereby right box 1 is in portable state, the rethread nylon rope 53 slowly pulls right box 1 to next step face. Therefore, the robot can move the next step surface smoothly, and the steps are repeated to complete the step surface cleaning work one by one.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The utility model provides an automatic robot that cleans of step for corridor which characterized in that: comprises a box body (1), a transverse cleaning module (2), a garbage gathering module (3), an auxiliary descending module (4), a box body splicing module (5) and an adsorption module (6), wherein the number of the box body (1) is three, through holes penetrating through the front end surface and the rear end surface are horizontally formed in the box body (1), rectangular grooves are formed in the front end surface and the rear end surface of the box body (1) along the bottom surface of the box body (1), a conical groove is formed in the middle position of the right end surface of the left box body (1), a conical boss (11) is correspondingly formed in the left end surface of the middle box body (1), the same conical bosses (11) are symmetrically formed in the right end surface of the middle box body (1), a conical groove is formed in the corresponding position of the left end surface of the right box body (1), electromagnets I (12) are respectively arranged at the bottom of the conical groove and the head of the conical boss (11, the bottom of the left box body (1) and the bottom of the right box body (1) are respectively provided with four transverse travelling wheels (13), and the bottom of the middle box body (1) is provided with two longitudinal travelling wheels (14); the transverse cleaning module (2) is arranged in a rectangular groove on the front end face of the three box bodies (1), and the transverse cleaning module (2) is used for cleaning garbage on steps; the garbage collection module (3) is arranged in a rectangular groove on the rear end face of the three box bodies (1), and the garbage collection module (3) is used for cleaning garbage swept to the wall corner by the transverse sweeping module (2) from the previous step to the next step; the auxiliary lifting module is arranged at the bottom of the left box body (1), and the auxiliary descending module (4) is used for enabling the left box body (1) to fall onto the next step surface in a horizontal state; the box body splicing module (5) is used for enabling the three box bodies (1) to form a whole; the adsorption module (6) is arranged at the bottom of the left box body and the right box body (1), and the adsorption module (6) is used for enabling the box bodies (1) to be adsorbed on the ground without moving.
2. The automatic cleaning robot for the steps of the corridor according to claim 1, wherein: the transverse cleaning module (2) comprises a first rotating shaft (21), a brush (22) and a first motor (23), the first rotating shaft (21) is located in a rectangular groove in the front end face of the box body (1), the first rotating shaft (21) is installed on the box body (1), rectangular grooves are uniformly formed in the right end face of the first rotating shaft (21) on the left box body (1) along the circumferential surface of the first rotating shaft (21), rectangular bosses are correspondingly formed in the two end faces of the first rotating shaft (21) on the middle box body (1) along the circumferential surface of the first rotating shaft (21), and rectangular grooves are uniformly formed in the left end face of the first rotating shaft (21) on the right box body (1) along the circumferential surface of the first rotating shaft (21); the hairbrushes (22) are uniformly arranged on the circumferential surface of the first rotating shaft (21); the first motor (23) is fixed on the box body (1), and the first motor (23) is connected with one end of the first rotating shaft (21).
3. The automatic cleaning robot for the steps of the corridor according to claim 1, wherein: the garbage gathering module (3) comprises a second rotating shaft (31), a spiral scraper (32) and a second motor (33), the second rotating shaft (31) is positioned in a rectangular groove in the rear end face of the box body (1), the second rotating shaft (31) is installed on the box body (1), the right end face of the second rotating shaft (31) on the box body (1) on the left side is uniformly provided with rectangular grooves along the circumferential surface of the second rotating shaft (31), two end faces of the second rotating shaft (31) on the middle box body (1) are correspondingly provided with rectangular bosses along the circumferential surface of the second rotating shaft (31), and the left end face of the second rotating shaft (31) on the box body (1) on the right side is uniformly provided with rectangular grooves along the circumferential surface of the second rotating shaft (31); the spiral scraping blade (32) is spirally arranged on the circumferential surface of the second rotating shaft (31); the second motor (33) is fixed on the box body (1), and the second motor (33) is connected with one end of the second rotating shaft (31).
4. The automatic cleaning robot for the steps of the corridor according to claim 1, wherein: the auxiliary descending module (4) comprises an outer cylinder (41), a movable seat (42), a connecting rod (43), a torsion spring and a gear (44), wherein the outer cylinder (41) is a cuboid, the outer cylinder (41) is fixed below the left box body (1), and a rectangular through hole is horizontally formed in the outer cylinder (41) along the length direction; the movable seat (42) is positioned in the rectangular through hole of the outer barrel (41), the movable seat (42) is a cuboid, a section of groove is formed in the bottom surface of the movable seat (42), the groove is positioned on the right side of the movable seat (42), the groove is communicated with the right end face of the movable seat (42), and a tooth-shaped structure is arranged on the upper end face of the movable seat (42); the connecting rod (43) is positioned in the groove of the movable seat (42), and the connecting rod (43) is hinged with the movable seat (42); the torsion spring is arranged at the hinged part of the connecting rod (43) and the movable seat (42); the gear (44) is arranged at the bottom of the box body (1), and the gear (44) is meshed with a tooth-shaped structure on the movable seat (42).
5. The automatic cleaning robot for the steps of the corridor according to claim 1, wherein: the box body splicing module (5) comprises two double-shaft motors (51), reels (52) and nylon ropes (53), wherein the double-shaft motors (51) are arranged in the through holes of the middle box body (1) in a bilateral symmetry mode; the scroll (52) is arranged at two ends of an output shaft of the double-shaft motor (51); one end of the nylon rope (53) is wound on the reel (52), and the other end of the nylon rope (53) penetrates through the middle box body (1) and is fixed at the bottoms of the conical grooves in the left box body (1) and the right box body (1) respectively.
6. The automatic cleaning robot for the steps of the corridor according to claim 1, wherein: the adsorption module (6) comprises a sucker (61), a support rod (62), a second electromagnet (63), a spring (64) and a vacuum pump (65), the sucker (61) is positioned below the left box body and the right box body (1), and the upper end of the sucker (61) is fixed on the support rod (62); the supporting rod (62) is positioned in the sliding groove, the top end of the supporting rod (62) is provided with a second electromagnet (63), and the bottom of the sliding groove of the box body (1) is also provided with the second electromagnet (63); the spring (64) is sleeved on the supporting rod (62), and the spring (64) is positioned between the sucker (61) and the box body (1); the vacuum pump (65) is fixed at the bottom of the box body (1), and the vacuum pump (65) is used for pumping out air in the sucker (61).
7. The automatic cleaning robot for the steps of the corridor according to claim 1, wherein: the longitudinal travelling wheels (14) are arranged on the support plate (15) through transmission shafts; a movable plate (16) is arranged at the top of the support plate (15), a guide groove is formed in the bottom of the middle box body (1), and the guide groove is communicated with a through hole of the box body (1); the movable plate (16) is positioned in the guide groove of the middle box body (1), and the upper surface of the movable plate (16) is fixed at the head part of a piston rod of the air cylinder (17); the cylinder (17) is fixed on the top of the through hole of the middle box body (1).
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| CN201711307898.7A CN108042054B (en) | 2017-12-11 | 2017-12-11 | Automatic robot that cleans of step for corridor |
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| CN108042054B true CN108042054B (en) | 2020-06-05 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109157162B (en) * | 2018-10-30 | 2023-04-11 | 吉林大学 | Intelligent stair cleaning robot with guardrail crawling capability and control method thereof |
| CN111265156B (en) * | 2020-04-15 | 2021-08-20 | 北方工业大学 | Stair climbing method of floor sweeping robot |
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